2015-AREQUIPA

ELECTRONIC
ENGINEERING
PROFESSIONAL
SCHOOL

CONTROL
AUTOMATICO III
INFORME AVANCE N7
HECHO POR:
HUAYLLAZO CANCAPA
JAIME ABRAHAN
DOCENTE:DELGADO
BARRA LUCY ANGELA
Grupo : N1
3:00-5:00

CONTROL AUTOMTICO III

SEVENTH PRACTICE
REGULATORS DESIGN

I.
ACTIVITIES
Using MatLab, Simulink and Sisotools:
1. Design a PI controller for de plant

G ( s)

2(1 15s )
(1 20 s )(1 s)(1 0.1s) 2

Can you get a closed-loop settling time less than 50 sec and M>20o?

Root locus diagram

bode Diagram

Step response

Parameters:

PICO TIME= 0.668

CMAX= infinite
Ts = 54 s
Css = 0.68

Mp=cmax- css = infinite

2. Design a PD controller for de plant

G (s)

K ( s 10)
( s 1)( s 2)( s 12)

Can you get a closed-loop settling time less than 1.5 sec and overshoot less than 10%?
Root locus diagram

Bode diagram

Step response

3. Use the plant (SISOTOOL)

G(s)

30
s 11s 30
2

This is a second order system. Our goal is to speed up the closed-loop response so that
the setting time is less than 1 second, produce a position error of 0.1, and percent
overshoot less than 10%.

Root locus diagram

Bode diagram

Step response

Parameters:

Tp = 2
Cmax = infinite
Ts = 71 s
Cs = 2
Mp=cmax- css = infinite
a) Proportional (P) Control
With a proportional control, looks the step response as the gain increases. What do
you see about this? And how is the error? Is the system unstable to any value of Kp?
b) Proportional + Derivative (PD) Control
Edit your compensator and add a real zero. Note that in this PD design
that you can select where you place this real zero along the real axis. Take
a moment to explore what happens to the root locus, the step response,
and the control effort as you move the zero.
Now move the zero between 1 and 4. Find a configuration with a position
error less than 0.5. Save the step response and control effort figure and
the controller that produced it.
Next move the zero between 7 and 9. What happens to the root locus?
Are we likely to get a faster response of the closedloop system with this
design than the previous one? Specify a controller with a zero in this
range that produces a settling time of 0.1 seconds or less. (Dont forget
that k<10) Save the step response and control effort figure and the
controller that produced it.
c) Proportional + Integral (PI) Control
Edit your compensator by adding a real pole at zero (adding the integral
element). Note that in this PI design that you can select where you place
this real zero along the real axis, but that the real pole must remain at
zero.
Place the zero between 0 and 5. Find a controller that produces a settling
time of less than 0.8 seconds, a percent overshoot of less than 2%, and a
position error of zero. Save the step response and control effort figure and
the controller that produced it. Are all your poles inside the design region?
Now set the real zero to the left of 6. This type of configuration is not
likely to get a faster response than with just a P controller. Why?
d) Proportional + Derivative (PD) Control
Lets start by making a PID controller with complex conjugate zeros. Edit
the previous compensator by deleting the real zero and adding complex
conjugate zeros at -77j and look at the root locus plot.
Find a gain value of K on this root locus so that the step response has less
than 10% percent overshoot and a settling time less than 0.5 seconds.
Save the step response and control effort figure and the controller that
produced it. Are all your poles and zeros within the design region? Would
you call this a second order dominant system?

II.

Keeping the real part of the zeros at 7, reduce the imaginary part of the
zeros as much as possible while keeping the same basic shape of the root
locus. At some point, as you reduce the imaginary part, the root locus will
take a very different shape. Find a value of K on this root locus so that the
step response has a percent overshoot of less than 2%, settling time less
than 1 second, and a position error of less than 0.01. (Remember to keep
K<10) Save the step response and control effort figure and the controller
that produced it.
Now lets make a PID controller with real zeros at 7 and 8. Determine the
root locus for this system. Find a value of K on this root locus so that
percent overshoot is less than 2% and the settling time is less than 1
second. (Remember to keep K< 10) Save the step response and control
effort figure and the controller that produced it.
CONCLUTIONS